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.S4 { margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap;  }</style></head><body><div class = rtcContent><h1  class = 'S0'><span>Robot Visualizer</span></h1><div  class = 'S1'><span>Copyright 2018-2019 The MathWorks, Inc.</span></div><h2  class = 'S2'><span>Overview</span></h2><div  class = 'S1'><span>The Robot Visualizer allows you to create a 2D mobile robotics scenario for simulation and algorithm prototyping. It includes a MATLAB and Simulink interface.</span></div><div  class = 'S1'><span>Below are some diagrams that introduce the capabilities and terminology.</span></div><div  class = 'S1'><img class = "imageNode" src = "" width = "713" height = "319" alt = "" style = "vertical-align: baseline"></img></div><div  class = 'S1'><img class = "imageNode" src = "" width = "729" height = "368" alt = "" style = "vertical-align: baseline"></img></div><div  class = 'S1'><span>The default options for the Robot Visualizer are</span></div><ul  class = 'S3'><li  class = 'S4'><span>Map is </span><span style=' font-weight: bold;'>EMPTY</span><span>(all free space)</span></li><li  class = 'S4'><span>Trajectory display is </span><span style=' font-weight: bold;'>ON</span></li><li  class = 'S4'><span>Waypoints, lidar, and object detectors are </span><span style=' font-weight: bold;'>OFF</span></li></ul><h2  class = 'S2'><span>MATLAB Usage</span></h2><div  class = 'S1'><span>The general syntax for the </span><span style=' font-family: monospace;'>Visualizer2D </span><span>object, if all options are enabled, are:</span></div><ul  class = 'S3'><li  class = 'S4'><span>Create object:          </span><span style=' font-family: monospace;'>viz = Visualizer2D;</span></li><li  class = 'S4'><span>Visualize:                 </span><span style=' font-family: monospace;'>viz(pose,waypoints,ranges,objects);</span></li></ul><div  class = 'S1'><span>where</span></div><ul  class = 'S3'><li  class = 'S4'><span style=' font-family: monospace;'>pose</span><span> is a 3-by-1 array representing the robot pose </span><span texencoding="[x; y; \theta]" style="vertical-align:-5px"><img src="" width="50" height="17.5" /></span><span>. This is the only mandatory input.</span></li><li  class = 'S4'><span style=' font-family: monospace;'>waypoints</span><span> is an N-by-2 matrix whose rows represent the </span><span texencoding="[x, y]" style="vertical-align:-5px"><img src="" width="35" height="17.5" /></span><span> location of waypoints. This input is available if the </span><span style=' font-family: monospace;'>hasWaypoints</span><span> property is </span><span style=' font-family: monospace;'>true</span><span>.</span></li><li  class = 'S4'><span style=' font-family: monospace;'>ranges</span><span> is an N-by-1 array of lidar ranges, in meters. This input is available if the </span><span style=' font-family: monospace;'>hasLidar</span><span> property is </span><span style=' font-family: monospace;'>true</span><span>.</span></li><li  class = 'S4'><span style=' font-family: monospace;'>objects</span><span> is an N-by-3 array whose rows represent the </span><span texencoding="[x, y, label]" style="vertical-align:-5px"><img src="" width="71" height="17.5" /></span><span> of objects. This input is available if the </span><span style=' font-family: monospace;'>hasObjectDetector</span><span> property is </span><span style=' font-family: monospace;'>true</span><span>.</span></li></ul><div  class = 'S1'><span style=' font-weight: bold;'>Examples</span></div><ul  class = 'S3'><li  class = 'S4'><a href = "matlab:edit mrsExampleVizBasics"><span>Example 1: Basics and Waypoints</span></a></li><li  class = 'S4'><a href = "matlab:edit mrsExampleVizLidar"><span>Example 2: Maps and Lidar</span></a></li><li  class = 'S4'><a href = "matlab:edit mrsExampleVizObject"><span>Example 3: Object Detection</span></a></li></ul><h2  class = 'S2'><span>Simulink Usage</span></h2><div  class = 'S1'><span>Use the </span><span style=' font-weight: bold;'>Robot Visualizer</span><span> block from the </span><span style=' font-weight: bold;'>Environments</span><span> section of the </span><a href = "matlab:mobileRoboticsLib"><span>block library</span></a><span>. </span></div><div  class = 'S1'><span>This block accepts up to four inputs:</span></div><ul  class = 'S3'><li  class = 'S4'><span style=' font-family: monospace;'>pose</span><span> is a 3-by-1 array representing the robot pose </span><span texencoding="[x; y; \theta]" style="vertical-align:-5px"><img src="" width="50" height="17.5" /></span><span>. This is the only mandatory input.</span></li><li  class = 'S4'><span style=' font-family: monospace;'>waypoints</span><span> is an N-by-2 matrix whose rows represent the </span><span texencoding="[x, y]" style="vertical-align:-5px"><img src="" width="35" height="17.5" /></span><span> location of waypoints. This input is available if the </span><span style=' font-weight: bold;'>Accept waypoints</span><span> option is enabled.</span></li><li  class = 'S4'><span style=' font-family: monospace;'>ranges</span><span> is an N-by-1 array of lidar ranges, in meters. This input is available if the Accept lidar inputs option is enabled</span></li><li  class = 'S4'><span style=' font-family: monospace;'>objects</span><span> is an N-by-3 array whose rows represent the </span><span texencoding="[x, y, label]" style="vertical-align:-5px"><img src="" width="71" height="17.5" /></span><span> of objects. This input is available if the Accept object detection option is enabled.</span></li></ul><div  class = 'S1'><span style=' font-weight: bold;'>NOTE:</span><span> If you are using </span><a href = "matlab:edit mrsDocLidarSensor"><span>Lidar Sensor</span></a><span> and/or </span><a href = "matlab:edit mrsDocObjectDetector"><span>Object Detector</span></a><span> blocks, ensure that the block parameters in those blocks are the same as those in the Robot Visualizer block. We recommend using MATLAB variables to represent the sensor parameters to enforce consistent values.</span></div><div  class = 'S1'><img class = "imageNode" src = "" width = "619.9693176269532" alt = "" style = "vertical-align: baseline"></img></div><div  class = 'S1'><span style=' font-weight: bold;'>Examples</span></div><ul  class = 'S3'><li  class = 'S4'><a href = "matlab:mrsLidarAndObjectModel"><span>Model with Lidar Sensor and Object Detector blocks</span></a></li><li  class = 'S4'><a href = "matlab:mrsDiffDrivePurePursuitModel"><span>Waypoint following with the Pure Pursuit algorithm</span></a></li></ul></div>
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<!-- 
##### SOURCE BEGIN #####
%% Robot Visualizer
% Copyright 2018-2019 The MathWorks, Inc.
%% Overview
% The Robot Visualizer allows you to create a 2D mobile robotics scenario for 
% simulation and algorithm prototyping. It includes a MATLAB and Simulink interface.
% 
% Below are some diagrams that introduce the capabilities and terminology.
% 
% 
% 
% 
% 
% The default options for the Robot Visualizer are
%% 
% * Map is *EMPTY*(all free space)
% * Trajectory display is *ON*
% * Waypoints, lidar, and object detectors are *OFF*
%% MATLAB Usage
% The general syntax for the |Visualizer2D| object, if all options are enabled, 
% are:
%% 
% * Create object:          |viz = Visualizer2D;|
% * Visualize:                 |viz(pose,waypoints,ranges,objects);|
%% 
% where
%% 
% * |pose| is a 3-by-1 array representing the robot pose $[x; y; \theta]$. This 
% is the only mandatory input.
% * |waypoints| is an N-by-2 matrix whose rows represent the $[x, y]$ location 
% of waypoints. This input is available if the |hasWaypoints| property is |true|.
% * |ranges| is an N-by-1 array of lidar ranges, in meters. This input is available 
% if the |hasLidar| property is |true|.
% * |objects| is an N-by-3 array whose rows represent the $[x, y, label]$ of 
% objects. This input is available if the |hasObjectDetector| property is |true|.
%% 
% *Examples*
%% 
% * <matlab:edit mrsExampleVizBasics Example 1: Basics and Waypoints>
% * <matlab:edit mrsExampleVizLidar Example 2: Maps and Lidar>
% * <matlab:edit mrsExampleVizObject Example 3: Object Detection>
%% Simulink Usage
% Use the *Robot Visualizer* block from the *Environments* section of the <matlab:mobileRoboticsLib 
% block library>. 
% 
% This block accepts up to four inputs:
%% 
% * |pose| is a 3-by-1 array representing the robot pose $[x; y; \theta]$. This 
% is the only mandatory input.
% * |waypoints| is an N-by-2 matrix whose rows represent the $[x, y]$ location 
% of waypoints. This input is available if the *Accept waypoints* option is enabled.
% * |ranges| is an N-by-1 array of lidar ranges, in meters. This input is available 
% if the Accept lidar inputs option is enabled
% * |objects| is an N-by-3 array whose rows represent the $[x, y, label]$ of 
% objects. This input is available if the Accept object detection option is enabled.
%% 
% *NOTE:* If you are using <matlab:edit mrsDocLidarSensor Lidar Sensor> and/or 
% <matlab:edit mrsDocObjectDetector Object Detector> blocks, ensure that the block 
% parameters in those blocks are the same as those in the Robot Visualizer block. 
% We recommend using MATLAB variables to represent the sensor parameters to enforce 
% consistent values.
% 
% 
% 
% *Examples*
%% 
% * <matlab:mrsLidarAndObjectModel Model with Lidar Sensor and Object Detector 
% blocks>
% * <matlab:mrsDiffDrivePurePursuitModel Waypoint following with the Pure Pursuit 
% algorithm>
##### SOURCE END #####
--></body></html>